The Reds have been pitted against the Serie A side after Roma shocked FC Barcelona in the quarter-finals to book their place in the last four.
Liverpool FC progressed through to the semi-finals thanks to their impressive 5-1 aggregate win over Manchester City in the semi-finals.
The Merseyside outfit will host AS Roma in the first leg at Anfield on Tuesday 24 April, with the return leg on Wednesday 2 May.
Reacting to the draw, Lineker wrote on Twitter: “Liverpool will play Roma. Bayern Munich will face Real Madrid in the semi finals of the Champions League.”
He added: “Should Liverpool get through to the final they will be the designated away team. That bastard ‘away goal rule’ could do for them.”
Should Liverpool FC reach the final, they will play either defending champions Real Madrid or Bayern Munich in Kiev, Ukraine on Saturday 26 May.
Meanwhile, Liverpool FC have switched their focus back towards Premier League affairs and their home clash against Bournemouth at Anfield on Saturday afternoon.
The Reds are currently in third place in the Premier League table as they bid to try and finish in the top four for the second season running under Jurgen Klopp.
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